Development of 4-D.O.F. manipulator using mechanical impedance adjuster

Toshio Morita, Shigeki Sugano

    研究成果: Conference contribution

    35 引用 (Scopus)

    抄録

    The objective of our study is to realize passive impedance of the robot joint by mechanical elements (MIA), and to develop an anthropomorphic multiple D.O.F. manipulator using this mechanism. This mechanism has the advantage of conventional method of the force control in realizing high compliance. This paper presents the development of the 4-D.O.F. MIA ARM which is an upper arm of the manipulator. This paper also describes the experimental evaluation of the 4-D.O.F. MIA manipulator by means of step responses and circular trajectory. The experimental results show that the 4-D.O.F. MIA ARM has high performance not only in force control but also in motion control.

    元の言語English
    ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
    出版者IEEE
    ページ2902-2907
    ページ数6
    4
    出版物ステータスPublished - 1996
    イベントProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
    継続期間: 1996 4 221996 4 28

    Other

    OtherProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4)
    Minneapolis, MN, USA
    期間96/4/2296/4/28

    Fingerprint

    Manipulators
    Force control
    Step response
    Motion control
    Trajectories
    Robots
    Compliance

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    これを引用

    Morita, T., & Sugano, S. (1996). Development of 4-D.O.F. manipulator using mechanical impedance adjuster. : Proceedings - IEEE International Conference on Robotics and Automation (巻 4, pp. 2902-2907). IEEE.

    Development of 4-D.O.F. manipulator using mechanical impedance adjuster. / Morita, Toshio; Sugano, Shigeki.

    Proceedings - IEEE International Conference on Robotics and Automation. 巻 4 IEEE, 1996. p. 2902-2907.

    研究成果: Conference contribution

    Morita, T & Sugano, S 1996, Development of 4-D.O.F. manipulator using mechanical impedance adjuster. : Proceedings - IEEE International Conference on Robotics and Automation. 巻. 4, IEEE, pp. 2902-2907, Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4), Minneapolis, MN, USA, 96/4/22.
    Morita T, Sugano S. Development of 4-D.O.F. manipulator using mechanical impedance adjuster. : Proceedings - IEEE International Conference on Robotics and Automation. 巻 4. IEEE. 1996. p. 2902-2907
    Morita, Toshio ; Sugano, Shigeki. / Development of 4-D.O.F. manipulator using mechanical impedance adjuster. Proceedings - IEEE International Conference on Robotics and Automation. 巻 4 IEEE, 1996. pp. 2902-2907
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